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Merge pull request #47943 from nekomatata/joint-check-body-types-3.x

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[3.x] Fix errors related to joints setup with two non-dynamic bodies
This commit is contained in:
Rémi Verschelde 2021-04-28 16:58:23 +02:00 committed by GitHub
commit a706fb11e5
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 26 additions and 0 deletions
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4
servers/physics/joints/cone_twist_joint_sw.cpp
View file

@ -111,6 +111,10 @@ ConeTwistJointSW::ConeTwistJointSW(BodySW *rbA, BodySW *rbB, const Transform &rb
}
bool ConeTwistJointSW::setup(real_t p_timestep) {
if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
return false;
}
m_appliedImpulse = real_t(0.);
//set bias, sign, clear accumulator

3
servers/physics/joints/generic_6dof_joint_sw.cpp
View file

@ -301,6 +301,9 @@ bool Generic6DOFJointSW::testAngularLimitMotor(int axis_index) {
}
bool Generic6DOFJointSW::setup(real_t p_timestep) {
if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
return false;
}
// Clear accumulated impulses for the next simulation step
m_linearLimits.m_accumulatedImpulse = Vector3(real_t(0.), real_t(0.), real_t(0.));

3
servers/physics/joints/hinge_joint_sw.cpp
View file

@ -158,6 +158,9 @@ HingeJointSW::HingeJointSW(BodySW *rbA, BodySW *rbB, const Vector3 &pivotInA, co
}
bool HingeJointSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
return false;
}
m_appliedImpulse = real_t(0.);

3
servers/physics/joints/pin_joint_sw.cpp
View file

@ -50,6 +50,9 @@ subject to the following restrictions:
#include "pin_joint_sw.h"
bool PinJointSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
return false;
}
m_appliedImpulse = real_t(0.);

3
servers/physics/joints/slider_joint_sw.cpp
View file

@ -129,6 +129,9 @@ SliderJointSW::SliderJointSW(BodySW *rbA, BodySW *rbB, const Transform &frameInA
//-----------------------------------------------------------------------------
bool SliderJointSW::setup(real_t p_step) {
if ((A->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= PhysicsServer::BODY_MODE_KINEMATIC)) {
return false;
}
//calculate transforms
m_calculatedTransformA = A->get_transform() * m_frameInA;

10
servers/physics_2d/joints_2d_sw.cpp
View file

@ -90,9 +90,13 @@ normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vecto
}
bool PinJoint2DSW::setup(real_t p_step) {
if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC)) {
return false;
}
Space2DSW *space = A->get_space();
ERR_FAIL_COND_V(!space, false);
rA = A->get_transform().basis_xform(anchor_A);
rB = B ? B->get_transform().basis_xform(anchor_B) : anchor_B;
@ -259,6 +263,9 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
}
bool GrooveJoint2DSW::setup(real_t p_step) {
if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC)) {
return false;
}
// calculate endpoints in worldspace
Vector2 ta = A->get_transform().xform(A_groove_1);
@ -353,6 +360,9 @@ GrooveJoint2DSW::~GrooveJoint2DSW() {
//////////////////////////////////////////////
bool DampedSpringJoint2DSW::setup(real_t p_step) {
if ((A->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC) && (B->get_mode() <= Physics2DServer::BODY_MODE_KINEMATIC)) {
return false;
}
rA = A->get_transform().basis_xform(anchor_A);
rB = B->get_transform().basis_xform(anchor_B);